// --------------------------------------------------------------------------------------------------------------------
// <copyright file="JointControllerDisplayModel.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
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//  copies of the Software, and to permit persons to whom the Software is
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// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
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// --------------------------------------------------------------------------------------------------------------------
namespace Microsoft.Robotics.Manipulation.Visualization
{
    using System;
    using System.Collections.Concurrent;
    using System.Collections.Generic;
    using System.Collections.ObjectModel;
    using System.Windows.Controls;
    using Microsoft.Robotics.Numerics;
    using Microsoft.Robotics.Visualization;

    /// <summary>
    /// Model for changing and testing joint level control
    /// </summary>
    public class JointControllerDisplayModel : Model
    {
        /// <summary>
        /// Number of joints.
        /// </summary>
        public const int NumJoints = 7;

        /// <summary>
        /// Initializes a new instance of the <see cref="JointControllerDisplayModel"/> class
        /// </summary>
        public JointControllerDisplayModel()
        {
            this.JointCommandedPosition = new double[NumJoints];
            this.JointActualPosition = new double[NumJoints];
            this.PGains = new double[NumJoints];
            this.DGains = new double[NumJoints];
            this.Deadband = new double[NumJoints];
            this.MaxDelta = new double[NumJoints];
            this.PDGainsToUpdate = new ConcurrentQueue<int>();
        }

        /// <summary>
        /// Gets or sets commanded positions
        /// </summary>
        public double[] JointCommandedPosition { get; set; }

        /// <summary>
        /// Gets or sets actual positions
        /// </summary>
        public double[] JointActualPosition { get; set; }

        /// <summary>
        /// Gets or sets a value indicating whether or not position commands are enabled
        /// </summary>
        public bool EnablePositionCommands { get; set; }

        /// <summary>
        /// Gets or sets the pGains
        /// </summary>
        public double[] PGains { get; set; }

        /// <summary>
        /// Gets or sets the dGains
        /// </summary>
        public double[] DGains { get; set; }

        /// <summary>
        /// Gets or sets the deadbands.
        /// </summary>
        public double[] Deadband { get; set; }

        /// <summary>
        /// Gets or sets the max output delta for single cycle
        /// </summary>
        public double[] MaxDelta { get; set; }

        /// <summary>
        /// Gets or sets queue of PD gains to update.
        /// </summary>
        public ConcurrentQueue<int> PDGainsToUpdate { get; set; }
    }
}
